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iOS various updates (#1340)

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* Added Data Recording Mode. Added option to filter ARKit localization jumps.

* Implemented max acc relocalization filtering (working on iOS)

* Fixed android build, added re-localization max acceleration parameter

* ARCore Java: Fixed pose of depth not available at stamp requested

* Android log fix

* Added libLAS support

* ios: added LAS support

* updated dep install script to skip libraries already installed

* CameraMobile: Fixed origin not updated if updateOnRender() is used

* Default max opt error increased to 2x to reduce number of loop closures rejected. OptimizerGTSAM: updated gravity noise model to use same sigma for both parameters.

* Updated license

* bump 0.21.7

* updated license date
This commit is contained in:
matlabbe
2024-10-06 17:16:22 -07:00
committed by GitHub
parent 409ef73e56
commit 595f200a89
41 changed files with 2420 additions and 1664 deletions
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app/android/res/values/strings.xml
+25 -19
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@@ -83,8 +83,8 @@
<string name="pref_default_camera_driver">-1</string>
<string name="pref_key_depth_from_motion">pref_key_depth_from_motion</string>
<string name="pref_default_depth_from_motion">false</string>
<string name="pref_key_arcore_localization_filtering_speed">pref_key_arcore_localization_filtering_speed</string>
<string name="pref_default_arcore_localization_filtering_speed">0</string>
<string name="pref_key_arcore_relocalization_acc_thr">pref_key_arcore_relocalization_acc_thr</string>
<string name="pref_default_arcore_relocalization_acc_thr">58.8399</string>
<string name="pref_key_update_rate">pref_key_update_rate</string>
<string name="pref_default_update_rate">1</string>
<string name="pref_key_max_speed">pref_key_max_speed</string>
@@ -100,7 +100,7 @@
<string name="pref_key_min_inliers">pref_key_min_inliers</string>
<string name="pref_default_min_inliers">25</string>
<string name="pref_key_opt_error">pref_key_opt_error</string>
<string name="pref_default_opt_error">1</string>
<string name="pref_default_opt_error">2</string>
<string name="pref_key_features_voc">pref_key_features_voc</string>
<string name="pref_default_features_voc">200</string>
<string name="pref_key_features">pref_key_features</string>
@@ -329,8 +329,8 @@
<string name="pref_summary_camera_driver">AR sdk used for capturing 6DoF poses and images. A TOF camera is required to record a 3D model.</string>
<string name="pref_title_depth_from_motion">Depth From Motion</string>
<string name="pref_summary_depth_from_motion">Use ARCore\'s depth API to compute depth image from motion. If the phone has a TOF camera and is supported by ARCore, results should be better. Currently supported only with ARCore NDK driver.</string>
<string name="pref_title_arcore_localization_filtering_speed">ARCore Localization Filtering Speed</string>
<string name="pref_summary_arcore_localization_filtering_speed">Filter ARCore\'s localizations to avoid jumps in odometry when creating a map with RTAB-Map, which would cause large drift errors that are difficult to correct. Set a speed threshold to detect those events.</string>
<string name="pref_title_arcore_relocalization_acc_thr">ARCore Re-Localization Acceleration Threshold</string>
<string name="pref_summary_arcore_relocalization_acc_thr">Filter ARCore\'s re-localizations to avoid jumps in odometry when creating a map with RTAB-Map, which would cause large drift errors that are difficult to correct. Set an acceleration threshold to detect those events.</string>
<string name="pref_title_append">Append Mode</string>
<string name="pref_summary_append">When resuming mapping, wait for a relocalization on the current map before starting a new map.</string>
<string name="pref_title_resolution">HD Mode</string>
@@ -412,23 +412,29 @@
<item>"1"</item>
<item>"0.5"</item>
</string-array>
<string-array name="pref_arcore_localization_filtering_speed_keys">
<string-array name="pref_arcore_relocalization_acc_thr_keys">
<item>"Disabled"</item>
<item>"5 m/s"</item>
<item>"4 m/s"</item>
<item>"3 m/s"</item>
<item>"2 m/s"</item>
<item>"1 m/s"</item>
<item>"0.5 m/s"</item>
<item>"10 g"</item>
<item>"9 g"</item>
<item>"8 g"</item>
<item>"7 g"</item>
<item>"6 g"</item>
<item>"5 g"</item>
<item>"4 g"</item>
<item>"3 g"</item>
<item>"2 g"</item>
</string-array>
<string-array name="pref_arcore_localization_filtering_speed_values">
<string-array name="pref_arcore_relocalization_acc_thr_values">
<item>"0"</item>
<item>"5"</item>
<item>"4"</item>
<item>"3"</item>
<item>"2"</item>
<item>"1"</item>
<item>"0.5"</item>
<item>"98.0665"</item>
<item>"88.25985"</item>
<item>"78.4532"</item>
<item>"68.64655"</item>
<item>"58.8399"</item>
<item>"49.03325"</item>
<item>"39.2266"</item>
<item>"29.41995"</item>
<item>"19.6133"</item>
</string-array>
<string-array name="pref_max_speed_keys">
<item>"No Limit"</item>